Remove epa_pr

[kbayes]

DO NOT MERGE (needs further benchmarking)

mjwarp-testspeed benchmark/aloha_pot/scene.xml --nconmax=24 --njmax=128 --event_trace --memory

Before:

Summary for 8192 parallel rollouts

Total JIT time: 0.89 s
Total simulation time: 4.23 s
Total steps per second: 1,938,721
Total realtime factor: 3,877.44 x
Total time per step: 515.80 ns
Total converged worlds: 8192 / 8192

Event trace:

step: 513.39
  forward: 506.49
    fwd_position: 238.21
      kinematics: 34.60
      com_pos: 8.99
      camlight: 1.86
      flex: 0.18
      crb: 10.23
      tendon_armature: 0.19
      collision: 162.63
        nxn_broadphase: 84.31
        convex_narrowphase: 75.09
        primitive_narrowphase: 2.24
      make_constraint: 16.21
      transmission: 1.36
    sensor_pos: 0.18
    fwd_velocity: 30.68
      com_vel: 8.88
      passive: 1.14
      rne: 12.29
      tendon_bias: 0.19
    sensor_vel: 0.19
    fwd_actuation: 1.46
    fwd_acceleration: 7.54
      xfrc_accumulate: 2.00
    solve: 226.10
      mul_m: 2.56
    sensor_acc: 0.18
  euler: 6.30

Model memory 5.38 MB (0.36% of used memory):
 (no field >= 1% of used memory)
Data memory 427.43 MB (28.46% of used memory):
 geom_xpos: 19.12 MB (1.27%)
 geom_xmat: 57.38 MB (3.82%)
 qM: 18.00 MB (1.20%)
 qLD: 16.53 MB (1.10%)
 efc.J: 96.00 MB (6.39%)
Other memory: 1069.19 MB (71.18% of used memory)
Total memory: 1502.00 MB (3.10% of total device memory)

After:

Summary for 8192 parallel rollouts

Total JIT time: 0.90 s
Total simulation time: 4.22 s
Total steps per second: 1,939,639
Total realtime factor: 3,879.28 x
Total time per step: 515.56 ns
Total converged worlds: 8192 / 8192

Event trace:

step: 513.36
  forward: 506.49
    fwd_position: 239.93
      kinematics: 34.67
      com_pos: 8.99
      camlight: 1.86
      flex: 0.18
      crb: 10.22
      tendon_armature: 0.19
      collision: 164.55
        nxn_broadphase: 84.36
        convex_narrowphase: 76.99
        primitive_narrowphase: 2.24
      make_constraint: 16.02
      transmission: 1.34
    sensor_pos: 0.18
    fwd_velocity: 30.62
      com_vel: 8.87
      passive: 1.13
      rne: 12.28
      tendon_bias: 0.18
    sensor_vel: 0.18
    fwd_actuation: 1.45
    fwd_acceleration: 7.52
      xfrc_accumulate: 2.00
    solve: 224.49
      mul_m: 2.53
    sensor_acc: 0.18
  euler: 6.27

Model memory 5.38 MB (0.50% of used memory):
 (no field >= 1% of used memory)
Data memory 427.43 MB (39.36% of used memory):
 geom_xpos: 19.12 MB (1.76%)
 geom_xmat: 57.38 MB (5.28%)
 qM: 18.00 MB (1.66%)
 qLD: 16.53 MB (1.52%)
 efc.J: 96.00 MB (8.84%)
 efc.quad: 12.00 MB (1.10%)
Other memory: 653.19 MB (60.15% of used memory)
Total memory: 1086.00 MB (2.24% of total device memory)

[thowell]

these changes supersede #956?

[kbayes]

Here's a test of 30 cylinders rolling on each other in a box (worse case with hight ccd iterations):

before

Summary for 8192 parallel rollouts

Total JIT time: 3.74 s
Total simulation time: 210.74 s
Total steps per second: 38,872
Total realtime factor: 77.74 x
Total time per step: 25725.30 ns
Total converged worlds: 8192 / 8192

Event trace:

step: 25717.28
  forward: 25660.35
    fwd_position: 3409.81
      kinematics: 11.80
      com_pos: 31.40
      camlight: 0.19
      flex: 0.18
      crb: 10.82
      tendon_armature: 0.19
      collision: 1882.94
        nxn_broadphase: 11.04
        convex_narrowphase: 1854.81
        primitive_narrowphase: 16.12
      make_constraint: 1470.12
      transmission: 0.19
    sensor_pos: 0.18
    fwd_velocity: 46.15
      com_vel: 21.54
      passive: 4.76
      rne: 18.71
      tendon_bias: 0.18
    sensor_vel: 0.19
    fwd_actuation: 0.61
    fwd_acceleration: 52.49
      xfrc_accumulate: 5.35
    solve: 22148.70
      mul_m: 10.26
    sensor_acc: 0.19
  euler: 56.34

Model memory 0.18 MB (0.00% of used memory):
 (no field >= 1% of used memory)
Data memory 5107.07 MB (27.11% of used memory):
 efc.J: 4224.00 MB (22.42%)
Other memory: 13732.74 MB (72.89% of used memory)
Total memory: 18840.00 MB (38.84% of total device memory)

after

Summary for 8192 parallel rollouts

Total JIT time: 10.47 s
Total simulation time: 245.23 s
Total steps per second: 33,405
Total realtime factor: 66.81 x
Total time per step: 29935.28 ns
Total converged worlds: 8191 / 8192

Event trace:

step: 29929.08
  forward: 29873.35
    fwd_position: 3848.42
      kinematics: 11.57
      com_pos: 30.68
      camlight: 0.19
      flex: 0.19
      crb: 10.63
      tendon_armature: 0.19
      collision: 2327.71
        nxn_broadphase: 10.79
        convex_narrowphase: 2299.73
        primitive_narrowphase: 16.21
      make_constraint: 1465.10
      transmission: 0.19
    sensor_pos: 0.19
    fwd_velocity: 45.96
      com_vel: 21.48
      passive: 4.72
      rne: 18.60
      tendon_bias: 0.19
    sensor_vel: 0.19
    fwd_actuation: 0.61
    fwd_acceleration: 51.91
      xfrc_accumulate: 5.30
    solve: 25923.85
      mul_m: 10.20
    sensor_acc: 0.19
  euler: 55.13

Model memory 0.18 MB (0.00% of used memory):
 (no field >= 1% of used memory)
Data memory 5107.07 MB (36.96% of used memory):
 efc.J: 4224.00 MB (30.57%)
Other memory: 8708.74 MB (63.03% of used memory)
Total memory: 13816.00 MB (28.48% of total device memory)

[thowell]

@kbayes what is the status of this pr?

[kbayes]

@thowell this is WIP.